EP4109404A4 - Procédé et appareil de détermination de pose, ainsi que dispositif électronique et support de stockage - Google Patents
Procédé et appareil de détermination de pose, ainsi que dispositif électronique et support de stockage Download PDFInfo
- Publication number
- EP4109404A4 EP4109404A4 EP21853854.4A EP21853854A EP4109404A4 EP 4109404 A4 EP4109404 A4 EP 4109404A4 EP 21853854 A EP21853854 A EP 21853854A EP 4109404 A4 EP4109404 A4 EP 4109404A4
- Authority
- EP
- European Patent Office
- Prior art keywords
- electronic device
- storage medium
- determination method
- pose determination
- pose
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
- G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3626—Details of the output of route guidance instructions
- G01C21/365—Guidance using head up displays or projectors, e.g. virtual vehicles or arrows projected on the windscreen or on the road itself
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T19/00—Manipulating 3D models or images for computer graphics
- G06T19/006—Mixed reality
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/25—Determination of region of interest [ROI] or a volume of interest [VOI]
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/74—Image or video pattern matching; Proximity measures in feature spaces
- G06V10/761—Proximity, similarity or dissimilarity measures
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/77—Processing image or video features in feature spaces; using data integration or data reduction, e.g. principal component analysis [PCA] or independent component analysis [ICA] or self-organising maps [SOM]; Blind source separation
- G06V10/771—Feature selection, e.g. selecting representative features from a multi-dimensional feature space
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/20—Scenes; Scene-specific elements in augmented reality scenes
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20092—Interactive image processing based on input by user
- G06T2207/20101—Interactive definition of point of interest, landmark or seed
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30244—Camera pose
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2219/00—Indexing scheme for manipulating 3D models or images for computer graphics
- G06T2219/008—Cut plane or projection plane definition
Landscapes
- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Software Systems (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Computing Systems (AREA)
- Databases & Information Systems (AREA)
- Medical Informatics (AREA)
- General Health & Medical Sciences (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Computer Graphics (AREA)
- Computer Hardware Design (AREA)
- General Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Image Analysis (AREA)
- Processing Or Creating Images (AREA)
- User Interface Of Digital Computer (AREA)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202010779847.XA CN111768454B (zh) | 2020-08-05 | 2020-08-05 | 位姿确定方法、装置、设备及存储介质 |
PCT/CN2021/101028 WO2022028129A1 (fr) | 2020-08-05 | 2021-06-18 | Procédé et appareil de détermination de pose, ainsi que dispositif électronique et support de stockage |
Publications (2)
Publication Number | Publication Date |
---|---|
EP4109404A1 EP4109404A1 (fr) | 2022-12-28 |
EP4109404A4 true EP4109404A4 (fr) | 2023-10-11 |
Family
ID=72729650
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP21853854.4A Pending EP4109404A4 (fr) | 2020-08-05 | 2021-06-18 | Procédé et appareil de détermination de pose, ainsi que dispositif électronique et support de stockage |
Country Status (4)
Country | Link |
---|---|
US (1) | US20220398767A1 (fr) |
EP (1) | EP4109404A4 (fr) |
CN (1) | CN111768454B (fr) |
WO (1) | WO2022028129A1 (fr) |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111768454B (zh) * | 2020-08-05 | 2023-12-22 | 腾讯科技(深圳)有限公司 | 位姿确定方法、装置、设备及存储介质 |
CN112669381B (zh) * | 2020-12-28 | 2021-09-21 | 北京达佳互联信息技术有限公司 | 一种位姿确定方法、装置、电子设备及存储介质 |
CN112887793B (zh) * | 2021-01-25 | 2023-06-13 | 脸萌有限公司 | 视频处理方法、显示设备和存储介质 |
CN113689484B (zh) * | 2021-08-25 | 2022-07-15 | 北京三快在线科技有限公司 | 深度信息的确定方法、装置、终端及存储介质 |
CN116630412A (zh) * | 2022-02-10 | 2023-08-22 | 腾讯科技(深圳)有限公司 | 位姿处理方法、装置、电子设备、存储介质及程序产品 |
CN115690194B (zh) * | 2022-10-17 | 2023-09-19 | 广州赤兔宸行科技有限公司 | 一种车载xr设备定位方法、装置、设备及存储介质 |
CN116758157B (zh) * | 2023-06-14 | 2024-01-30 | 深圳市华赛睿飞智能科技有限公司 | 一种无人机室内三维空间测绘方法、***及存储介质 |
CN117033862A (zh) * | 2023-10-08 | 2023-11-10 | 西安道达天际信息技术有限公司 | 地理坐标转换为ar坐标的转换方法、***及存储介质 |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20190244050A1 (en) * | 2017-07-07 | 2019-08-08 | Tencent Technology (Shenzhen) Company Limited | Method, device and storage medium for determining camera posture information |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104361575B (zh) * | 2014-10-20 | 2015-08-19 | 湖南戍融智能科技有限公司 | 深度图像中的自动地面检测及摄像机相对位姿估计方法 |
CN110057352B (zh) * | 2018-01-19 | 2021-07-16 | 北京图森智途科技有限公司 | 一种相机姿态角确定方法及装置 |
CN110599605B (zh) * | 2019-09-10 | 2021-07-13 | 腾讯科技(深圳)有限公司 | 图像处理方法及装置、电子设备和计算机可读存储介质 |
CN111464749B (zh) * | 2020-05-07 | 2021-05-25 | 广州酷狗计算机科技有限公司 | 进行图像合成的方法、装置、设备及存储介质 |
CN111768454B (zh) * | 2020-08-05 | 2023-12-22 | 腾讯科技(深圳)有限公司 | 位姿确定方法、装置、设备及存储介质 |
-
2020
- 2020-08-05 CN CN202010779847.XA patent/CN111768454B/zh active Active
-
2021
- 2021-06-18 WO PCT/CN2021/101028 patent/WO2022028129A1/fr unknown
- 2021-06-18 EP EP21853854.4A patent/EP4109404A4/fr active Pending
-
2022
- 2022-08-19 US US17/891,996 patent/US20220398767A1/en active Pending
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20190244050A1 (en) * | 2017-07-07 | 2019-08-08 | Tencent Technology (Shenzhen) Company Limited | Method, device and storage medium for determining camera posture information |
Non-Patent Citations (2)
Title |
---|
MARY ALATISE ET AL: "Pose Estimation of a Mobile Robot Based on Fusion of IMU Data and Vision Data Using an Extended Kalman Filter", SENSORS, vol. 17, no. 10, 21 September 2017 (2017-09-21), pages 2164, XP055688152, DOI: 10.3390/s17102164 * |
See also references of WO2022028129A1 * |
Also Published As
Publication number | Publication date |
---|---|
WO2022028129A1 (fr) | 2022-02-10 |
CN111768454A (zh) | 2020-10-13 |
EP4109404A1 (fr) | 2022-12-28 |
US20220398767A1 (en) | 2022-12-15 |
CN111768454B (zh) | 2023-12-22 |
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RIC1 | Information provided on ipc code assigned before grant |
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